# Expected Inputs

SGA-GSN 3D checkpoints expect the public SGA-GSN preprocessing pipeline to provide:

- Visual/object point input compatible with the AdaPoinTr shape model.
- Tactile point input with `xyz + contact` channels.
- The corresponding object id metadata used by the dataset loader.

For downstream RL, the perception stack uses:

```text
shape_checkpoint = checkpoints/shape_completion/ap_ps55.pth
grasp_checkpoint = checkpoints/sga_gsn/ppct_bce_vtencdrop_8dep_vds_featex_best.pth
```

The 2D CNN and CNNMCA baselines expect the 2D visual/tactile image tensors produced by the SGA-GSN 2D VTG dataset loaders.